From 81a4a93e6782defd9993900adac8d483e9d161c6 Mon Sep 17 00:00:00 2001 From: CL16gtgh Date: Sun, 26 May 2024 13:11:44 -0400 Subject: [PATCH] added ins body velocity uncertainty --- PCAN_project/hytech.sym | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/PCAN_project/hytech.sym b/PCAN_project/hytech.sym index d1ddfe6..9daf20b 100644 --- a/PCAN_project/hytech.sym +++ b/PCAN_project/hytech.sym @@ -580,6 +580,7 @@ Sig=num_com_sats_pvt unsigned 8 Sig=num_com_sats_rtk unsigned 8 Sig=highest_cn0_2 unsigned 8 Sig=controller_max_yaw_nl_accel_perc unsigned 4 /u:Nm /f:0.1 +Sig=vn_vel_uncertainty unsigned 16 /f:0.0005 {SENDRECEIVE} @@ -1355,11 +1356,12 @@ Sig=shutdown_status 0 Sig=tcu_recording_state 16 [VN_VEL] -ID=0D0h +ID=0D0h // Vehicle body velocity measured by VN-300 Len=8 Sig=vn_body_vel_x 0 Sig=vn_body_vel_y 16 Sig=vn_body_vel_z 32 +Sig=vn_vel_uncertainty 48 [VN_LINEAR_ACCEL] ID=0D1h